WO2015019790A1 - 電動モータの制御装置及び電動モータの制御方法 - Google Patents

電動モータの制御装置及び電動モータの制御方法 Download PDF

Info

Publication number
WO2015019790A1
WO2015019790A1 PCT/JP2014/068481 JP2014068481W WO2015019790A1 WO 2015019790 A1 WO2015019790 A1 WO 2015019790A1 JP 2014068481 W JP2014068481 W JP 2014068481W WO 2015019790 A1 WO2015019790 A1 WO 2015019790A1
Authority
WO
WIPO (PCT)
Prior art keywords
neutral point
electric motor
drive circuit
microcomputer
electric
Prior art date
Application number
PCT/JP2014/068481
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
俊章 大山
小関　知延
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to CN201480001524.0A priority Critical patent/CN104508973A/zh
Priority to US14/418,550 priority patent/US20160028336A1/en
Priority to KR1020147035279A priority patent/KR20150027095A/ko
Priority to DE112014003602.1T priority patent/DE112014003602T5/de
Publication of WO2015019790A1 publication Critical patent/WO2015019790A1/ja

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/12—Monitoring commutation; Providing indication of commutation failure
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/16—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to fault current to earth, frame or mass
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H02H7/1227—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to abnormalities in the output circuit, e.g. short circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/01—Motors with neutral point connected to the power supply

Definitions

  • the present invention relates to a control device of an electric motor and a control method of the electric motor.
  • a control device for an electric motor in which a plurality of phase coils are star-connected is an abnormal state in a drive system for driving each phase coil
  • the neutral point drive circuit connected to the star connection neutral point drives the electric motor using a drive system in which no abnormality occurs.
  • the contact point of the relay disposed in the electric path connecting the neutral point and the neutral point drive circuit is opened (opened), and the electric motor There is no problem in driving the
  • the presence or absence of abnormality in the neutral point drive circuit is diagnosed, for example, by comparing the PWM (Pulse Width Modulation) signal supplied to the switching element of the neutral point drive circuit with the voltage of the neutral point. .
  • PWM Pulse Width Modulation
  • an object of the present invention is to provide a control device of an electric motor and a control method of the electric motor, in which the abnormality diagnosis accuracy of the neutral point drive circuit is improved.
  • the controller for the electric motor comprises a drive circuit for driving the electric motor in which a plurality of phase coils are star-connected, a neutral point drive circuit connected to the neutral point of the star connection, a neutral point and a neutral point drive It has a semiconductor relay which interrupts the electric path which connects a circuit, and a microcomputer. Then, when the microcomputer can drive the electric motor normally by the drive circuit, the microcomputer shuts off the electric path by the semiconductor relay.
  • the current resulting from the abnormality does not flow to the neutral point drive circuit. It can be improved.
  • FIG. 1 is a schematic view showing a first embodiment of a control device for an assist motor. It is explanatory drawing of the 1st modification of the interruption
  • FIG. 6 is a schematic view showing a second embodiment of a control device for an assist motor. It is a schematic diagram showing a third embodiment of a control device for an assist motor. It is a schematic diagram showing a fourth embodiment of a control device for an assist motor. It is a schematic diagram showing a fifth embodiment of a control device for an assist motor. It is explanatory drawing of the other method of detecting the ground fault of a neutral point drive line.
  • FIG. 1 shows an example of an electric power steering apparatus mounted on a vehicle.
  • the electric power steering apparatus 100 includes a steering wheel 110, a steering torque sensor 120, an assist motor 130, and a control device 140 that controls the assist motor 130.
  • a steering torque sensor 120 and a reduction gear 170 are respectively incorporated in a steering column 160 including a steering shaft 150 connected to the steering wheel 110.
  • the assist motor 130 is an example of an electric motor that is a control target of the control device 140.
  • the steering torque sensor 120 detects a steering torque acting on the steering shaft 150, and outputs the steering torque signal S1 to the control device 140.
  • the control device 140 determines an assist force for assisting the steering force based on the steering torque signal S1 and the vehicle speed signal S2 output from the steering torque sensor 120, and the assist motor 130 with an operation amount corresponding to the assist force.
  • the assist motor 130 is driven, the pinion gear 180 attached to the tip of the steering shaft 150 is rotated, and the rack shaft 190 meshing with the pinion gear 180 is moved in the vehicle width direction. Therefore, the operation force of the driver's steering wheel 110 is transmitted to the steered wheels 200 while being assisted by the assist motor 130, and the direction of the vehicle is changed.
  • FIG. 2 shows a first embodiment of the control device 140 in the electric power steering apparatus 100.
  • the control apparatus 140 demonstrated below makes an object control object the three-phase electric motor in which each phase coil of U-phase, V-phase, and W-phase was star-connected as an assist motor 130, for example It is also possible to control the number of phases of the electric motor.
  • Control device 140 includes an inverter circuit 1 for driving assist motor 130, a pre-driver circuit 2 for controlling inverter circuit 1 and neutral point drive circuit 50 described later, phase relays 3U, 3V and 3W, and a pair of power supplies.
  • the relay 4, the power supply IC (Integrated Circuit) 5, the microcomputer 6, the pair of drivers 7 for controlling the power supply relay 4, the drivers 8U, 8V and 8W for controlling the phase relays 3U, 3V and 3W respectively, and boosting A circuit 9 and a current detector (current detection resistor) 10 are included.
  • the microcomputer 6 drives the assist motor 130 by executing a control program stored in a non-volatile memory such as a flash ROM (Read Only Memory), for example.
  • a part of inverter circuit 1 and predriver circuit 2 is mentioned as an example of a drive circuit.
  • the power supply IC 5 smoothes a power supply voltage supplied from a power supply such as a battery, for example, and supplies the microcomputer 6 with an operating voltage.
  • the booster circuit 9 boosts a power supply voltage supplied from a power supply such as a battery to a predetermined voltage, for example.
  • the driver 7 outputs the control signal of the voltage level supplied from the booster circuit 9 to the power supply relay 4 in response to the control signal output from the microcomputer 6 to turn the power supply relay 4 on (terminal short circuit) or off (terminal Control).
  • the power supply relay 4 is a semiconductor relay that opens and closes (opens or cuts off) the power supply line 30 connected to the + terminal (plus terminal) of a power supply such as a battery, and, for example, N channel type MOSFET (Metal Oxide Semiconductor Field Effect) (Transistor). Specifically, in the power supply relay 4, the drain and the source are connected in series to the power supply line 30, and the gate is connected to the output terminal of the driver 7.
  • the semiconductor relay is not limited to the N channel type MOSFET, and semiconductor switching elements such as a P channel type MOSFET, an NPN transistor, and a PNP transistor can be applied (the same applies to the following).
  • the inverter circuit 1 is an N-channel type MOSFET 1UH as three sets of semiconductor elements that individually drive U-phase, V-phase and W-phase coils of the assist motor 130 via the drive lines 31U, 31V and 31W. , 1 UL, 1 VH, 1 VL, 1 WH and 1 WL.
  • the drain and the source are connected in series between the power supply line 30 and the ground GND, and one end of the drive line 31U is connected to the common connection point.
  • the drains and sources of MOSFETs 1 VH and 1 VL are connected in series between power supply line 30 and ground GND, and one end of drive line 31 V is connected to the common connection point.
  • the drains and sources of the MOSFETs 1WH and 1WL are connected in series between the power supply line 30 and the ground GND, and one end of the drive line 31W is connected to the common connection point.
  • a current detector 10 for detecting a drive current is provided between the sources of the MOSFETs 1UL, 1VL and 1WL and the ground GND.
  • the current value detected by the current detector 10 is amplified by, for example, an amplifier (not shown) and output to the microcomputer 6.
  • the pre-driver circuit 2 controls the H side drivers 2UH, 2VH and 2WH which respectively control the upstream side drive elements MOSFETs 1UH, 1VH and 1WH in the inverter circuit 1 and the downstream side drive elements MOSFETs 1UL, 1VL and 1WL. And L side drivers 2UL, 2VL and 2WL.
  • H-side drivers 2UH, 2VH and 2WH and L-side drivers 2UL, 2VL and 2WL are configured to control voltage level control signals supplied from voltage boosting circuit 9 according to control signals such as PWM signals output from microcomputer 6 , 1VH, 1WH, 1UL, 1VL and 1WL for control.
  • the output terminals of the H side drivers 2UH, 2VH and 2WH are respectively connected to the gates of the MOSFETs 1UH, 1VH and 1WH to selectively turn on or off the MOSFETs 1UH, 1VH and 1WH.
  • the L side drivers 2UL, 2VL and 2WL have their output terminals respectively connected to the gates of the MOSFETs 1UL, 1VL and 1WL, and selectively control the MOSFETs 1UL, 1VL and 1WL to be on or off.
  • phase relays 3U, 3V and 3W drains and sources are connected in series between the inverter circuit 1 and the assist motor 130, that is, to the drive lines 31U, 31V and 31W.
  • the phase relays 3U, 3V and 3W use, for example, N-channel type MOSFETs as semiconductor relays, and are turned off when an abnormality occurs to interrupt the conduction between the inverter circuit 1 and the assist motor 130.
  • the gates of phase relays 3U, 3V and 3W are connected to the output terminals of drivers 8U, 8V and 8W respectively.
  • the drivers 8U, 8V and 8W output the control signal of the voltage level supplied from the booster circuit 9 to the phase relays 3U, 3V and 3W according to the control signal output from the microcomputer 6, thereby the phase relay 3U. , 3V and 3W are turned on or off to open and close the drive lines 31U, 31V and 31W.
  • the neutral point 132 where the U-phase, V-phase and W-phase coils of the assist motor 130 are star-connected is connected to the neutral point 132 via the neutral point drive line 32 (electric circuit). It is connected to the neutral point drive circuit 50 to be changed.
  • the neutral point drive circuit 50 includes N-channel MOSFETs 50H and 50L as semiconductor elements for driving the assist motor 130 by changing the potential of the neutral point 132.
  • the drains and sources of the MOSFETs 50H and 50L are connected in series between the power supply line 30 and the ground GND, and one end of the neutral point drive line 32 is connected to the common connection point.
  • the pre-driver circuit 2 further includes an H-side driver 2H that controls the MOSFET 50H that is an upstream drive element in the neutral point drive circuit 50, and an L-side driver 2L that controls a MOSFET 50L that is a downstream drive element.
  • the H-side driver 2H and the L-side driver 2L do not have an abnormality when any one of the drive systems of the U-phase, V-phase and W-phase coils of the assist motor 130 has an abnormality. Control is performed according to a control signal such as a PWM signal output from the microcomputer 6 so as to be driven in two phases.
  • the H-side driver 2H and the L-side driver 2L output the control signal of the voltage level supplied from the booster circuit 9 to the MOSFETs 50H and 50L in response to the control signal output from the microcomputer 6, And 50 L on or off.
  • the H-side driver 2H has its output terminal connected to the gate of the MOSFET 50H of the neutral point drive circuit 50, and selectively turns the MOSFET 50H on or off.
  • the L-side driver 2L has its output terminal connected to the gate of the MOSFET 50L of the neutral point drive circuit 50, and selectively turns the MOSFET 50L on or off.
  • a cutoff relay 51 for opening and closing the neutral point drive line 32 is connected in series, which is formed of a pair of N-channel MOSFETs as semiconductor relays capable of high speed operation.
  • a pair of MOSFETs are connected to the neutral drive line 32 such that the drain and source directions are different.
  • the gate of the blocking relay 51 is connected to the output terminal of the driver 52 that controls the blocking relay 51.
  • the driver 52 outputs the control signal of the voltage level supplied from the booster circuit 9 to the cutoff relay 51 in response to the control signal output from the microcomputer 6 to control the cutoff relay 51 to be on or off.
  • the blocking relay 51 may be a single N-channel MOSFET having a source connected to the neutral point drive circuit 50 and a drain connected to the neutral point 32, as shown in FIG.
  • the drains and sources of the MOSFETs shown in FIG. 3 may be disposed in opposite directions (the same applies hereinafter).
  • the operation of the control device 140 will be described.
  • the smoothed operating voltage is supplied from the power supply IC 5 to the microcomputer 6, and the power supply voltage is supplied to the booster circuit 9.
  • the microcomputer 6 is activated upon receiving the supply of the operating voltage, and executes a control program for driving the assist motor 130.
  • the power supply voltage boosted to a predetermined voltage by the booster circuit 9 is the H side drivers 2UH, 2VH, 2WH and 2H of the predriver circuit 2 and L side drivers 2UL, 2VL and 2WL and 2L, drivers 7, 8U, 8V and It is supplied to 8 W and 52 respectively.
  • the microcomputer 6 outputs a control signal to the driver 7 to turn on the power supply relay 4.
  • a power supply voltage is supplied from the power supply to the MOSFETs 1UH, 1UL, 1VH, 1VL, 1WH and 1WL of the inverter circuit 1 and the MOSFETs 50H and 50L of the neutral point drive circuit 50.
  • the microcomputer 6 also outputs control signals to the drivers 8U, 8V and 8W to control the phase relays 3U, 3V and 3W on.
  • the phase relays 3U, 3V and 3W are turned on, the drive lines 31U, 31V and 31W connecting the inverter circuit 1 and the assist motor 130 are opened, and the assist motor 130 can be driven.
  • the microcomputer 6 when driving the assist motor 130, the microcomputer 6 outputs control signals corresponding to the steering torque signal S1 and the vehicle speed signal S2 to the pre-driver circuit 2.
  • H-side drivers 2UH, 2VH and 2WH and L-side drivers 2UL, 2VL and 2WL of pre-driver circuit 2 are controlled by MOSFETs 1UH, 1UL, 1VH, 1VL and 1WH of inverter circuit 1 according to control signals outputted from microcomputer 6. And 1WL gate, and selectively control these on or off.
  • the microcomputer 6 dynamically changes the duty of the PWM signal which is an example of the control signal based on the steering torque signal S1 and the vehicle speed signal S2 and controls the rotational speed of the assist motor 130. Therefore, the operation force of the driver's steering wheel 110 is transmitted to the steered wheels 200 while being assisted by the assist motor 130, and the direction of the vehicle is changed.
  • the microcomputer 6 drives the U-phase, V-phase and W-phase coils of the assist motor 130, specifically, the MOSFET 1UH of the inverter circuit 1 It is diagnosed whether or not an abnormality has occurred in each phase coil of 1UL, 1VH, 1VL, 1WH and 1WL, and assist motor 130.
  • an abnormality in the drive system of the phase coil for example, an open or short of the MOSFET, a ground fault or disconnection of the phase coil, or the like is diagnosed.
  • the microcomputer 6 diagnoses that no abnormality occurs in the drive system of each phase coil, the control signal is sent to the driver 52 so that the neutral point drive line 32 is cut off by the cut-off relay 51. Output.
  • the microcomputer 6 diagnoses that an abnormality occurs in the drive system of each phase coil
  • the pre-driver is operated so that the operation of the assist motor 130 is continued by the two-phase drive system in which the abnormality does not occur.
  • the control signal is output to the circuit 2, and the control signal is output to the driver 52 so that the neutral point drive line 32 is opened by the cutoff relay 51.
  • FIG. 5 shows a second embodiment of the control device 140 in the electric power steering apparatus 100.
  • the second embodiment of the control device 140 only the configuration different from the first embodiment will be described (the same applies to the following).
  • the phase relays 3U, 3V and 3W for opening and closing the drive lines 31U, 31V and 32W are connected between the phase coils of the assist motor 130 and the neutral point 132,
  • the sources are connected in series. That is, the phase relays 3U, 3V and 3W are incorporated into the assist motor 130.
  • the drive lines 31U, 31V and 31W can be disconnected by the phase relays 3U, 3V and 3W.
  • Phase relays 3U, 3V and 3W may be disposed between inverter circuit 1 and neutral point 132 of assist motor 130.
  • control device 140 The other operations and effects of the control device 140 according to the second embodiment are the same as the operations and effects of the first embodiment described above, and thus the description thereof will be omitted. If necessary, refer to the description of the first embodiment (the same applies to the following).
  • FIG. 6 shows a third embodiment of the control device 140 in the electric power steering apparatus 100.
  • an abnormality occurs in the drive system of the neutral point 132 of the assist motor 130, specifically, in the MOSFETs 50H and 50L of the neutral point drive circuit 50 and the cutoff relay 51. Deal with the case. Therefore, between the source of the MOSFET 50L of the neutral point drive circuit 50 and the ground GND, a current detector 53 for detecting the current flowing through the MOSFETs 50H and 50L of the neutral point drive circuit 50 is disposed. Then, the current value detected by the current detector 53 is amplified by, for example, an amplifier (not shown) and the like, and output to the microcomputer 6.
  • the microcomputer 6 When the neutral point drive line 32 is cut off by the cut-off relay 51, the microcomputer 6 outputs, for example, a control signal for abnormality diagnosis to the H-side driver 2H and the L-side driver 2L of the predriver circuit 2. Then, the microcomputer 6 diagnoses whether or not an abnormality occurs in the drive system of the neutral point 132 through the consistency between the current value of the current detector 53 and the control signal for abnormality diagnosis. When the microcomputer 6 executes an abnormality diagnosis, the neutral point drive line 32 is cut off, so even if the microcomputer 6 outputs a control signal for abnormality diagnosis to the predriver 2, the driving of the assist motor 130 is performed. There is no impact on
  • the microcomputer 6 diagnoses that the drive system of the neutral point 132 is abnormal, the microcomputer 6 outputs a control signal to the driver 52 so that the neutral point drive line 32 is interrupted by the interruption relay 51. Do.
  • the microcomputer 6 stops outputting the control signal to the H-side driver 2H and the L-side driver 2L of the pre-driver circuit 2, and the neutral point Control of the drive circuit 50 may be stopped. Power consumption can be suppressed by this.
  • FIG. 7 shows a fourth embodiment of the control device 140 in the electric power steering apparatus 100.
  • the control device 140 according to the fourth embodiment is an abnormality of the neutral point drive line 32 of the assist motor 130, specifically, a neutral point drive located between the neutral point drive circuit 50 and the cutoff relay 51. Address the case where a ground fault occurs in the line 32. Therefore, on the neutral point drive line 32 located between the neutral point drive circuit 50 and the cutoff relay 51, a current detector 54 for detecting the current flowing through the neutral point drive line 32 is disposed. Then, the current value detected by the current detector 54 is amplified by, for example, an amplifier (not shown) and the like, and output to the microcomputer 6.
  • the microcomputer 6 When the neutral point drive line 32 is interrupted by the interruption relay 51, the microcomputer 6 outputs, for example, a control signal for abnormality diagnosis to the H-side driver 2H of the predriver circuit 2, and the neutral point drive line 32. Apply the power supply voltage to the At this time, since the neutral point drive line 32 is cut off, even if the microcomputer 6 outputs a control signal for abnormality diagnosis to the predriver 2, the drive of the assist motor 130 is not affected.
  • the microcomputer 6 diagnoses whether or not a ground fault occurs in the neutral point drive line 32. That is, since the neutral point drive line 32 is interrupted by the interruption relay 51, if a ground fault occurs in the neutral point drive line 32 located between the neutral point drive circuit 50 and the interruption relay 51, A current will flow. Therefore, the microcomputer 6 utilizes such a phenomenon to diagnose whether a ground fault has occurred in the neutral point drive line 32 or not.
  • the microcomputer 6 diagnoses that a ground fault occurs in the neutral point drive line 32, it outputs a control signal to the driver 52 so that the neutral point drive line 32 is opened by the cutoff relay 51.
  • a control signal is output to the L-side driver 2L of the pre-driver circuit 2 so that the MOSFET 50L of the neutral point drive circuit 50 is controlled to be on.
  • FIG. 8 shows a fifth embodiment of the control device 140 in the electric power steering apparatus 100.
  • the control device 140 according to the fifth embodiment has a first control system 142 and a second control system 144 in order to control two different assist motors 130.
  • the first control system 142 of the control device 140 includes the inverter circuit 1, the pre-driver circuit 2, the phase relays 3U, 3V and 3W, the power supply relay 4, and the power supply IC 5 as in the fourth embodiment.
  • the second control system 144 of the control device 140 includes an inverter circuit 1, a predriver circuit 2 for controlling the inverter circuit 1, phase relays 3U, 3V and 3W, a microcomputer 6, and drivers 8U, 8V and 8W. , A booster circuit 9, a current detector 10, a cutoff relay 51, and a driver 52.
  • the second control system 144 uses the first control system 142 for the power supply relay 4, the power supply IC 5 and the driver 7.
  • the microcomputer 6 of the first control system 142 and the microcomputer 6 of the second control system 144 are connected via an on-vehicle network such as CAN (Controller Area Network) so as to be able to communicate with each other. .
  • CAN Controller Area Network
  • the drain of the blocking relay 51 of the second control system 144 is connected to the neutral point driving line 32 located between the neutral point driving circuit 50 of the first control system 142 and the blocking relay 51. Therefore, the neutral point drive circuit 50 of the first control system 142 is connected to the neutral point 132 of the assist motor 130 of the first control system 142, and the neutral point of the assist motor 130 of the second control system 144. Connected to point 132. Therefore, the first control system 142 and the second control system 144 have the common neutral point drive circuit 50.
  • the assist motor 130, the inverter circuit 1, the predriver circuit 2 and the cutoff relay 51 are dualized, and the neutral point drive circuit 50 is used as each cutoff relay 51. It is sufficient if each is connected.
  • the control device 140 is not limited to the configuration in which the first control system 142 and the second control system 144 are duplexed, and may be a configuration in which three or more control systems are multiplexed.
  • the plurality of electric motors to be controlled by the control device 140 are not limited to the assist motor 130 of the electric power steering apparatus 100, but electric motors for different systems, for example, electric motors for brake systems and electric motors for seat belt devices. It may be a motor, an electric motor of an electric parking brake system, or the like.
  • the second control system 144 can be miniaturized, Cost reduction can be achieved.
  • a pull-up resistor 55 and two pull-down resistors 56 may be used. Specifically, a pull-up resistor 55 is disposed between the power supply line 30 and the neutral point drive line 32 located between the neutral point drive circuit 50 and the cutoff relay 51. Also, the ground GND is connected to the connection point of the pull-up resistor 55 in the neutral point drive line 32 via the two pull-down resistors 56.
  • the microcomputer 6 generates a ground fault in the neutral point drive line 32 from the potential at the common connection point of the two pull-down resistors 56 in a state in which the MOSFETs 50H and 50L of the neutral point drive circuit 50 are controlled to be off. Diagnose whether or not.
  • the control device 140 of the electric motor described above is not limited to the electric power steering device 100, but may be applied to, for example, an electric oil pump using a multiphase electric motor in which a plurality of phase coils are star-connected. .
  • the control device 140 of the electric motor the technical features of the first to fifth embodiments can be appropriately replaced or appropriately combined.
  • the ground GND can be a negative potential (minus potential).
  • inverter circuit 2 pre-driver circuit 6 microcomputer 10 current detector 32 neutral point drive line (electric circuit) 50 Neutral point drive circuit 51 Interrupt relay (Semiconductor relay) 53 current detector 54 current detector 55 pull-up resistor 56 pull-down resistor 130 assist motor (electric motor) 132 neutral point

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
PCT/JP2014/068481 2013-08-05 2014-07-10 電動モータの制御装置及び電動モータの制御方法 WO2015019790A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201480001524.0A CN104508973A (zh) 2013-08-05 2014-07-10 电动马达的控制装置以及电动马达的控制方法
US14/418,550 US20160028336A1 (en) 2013-08-05 2014-07-10 Control apparatus for electric motor and control method for electric motor
KR1020147035279A KR20150027095A (ko) 2013-08-05 2014-07-10 전동 모터의 제어 장치 및 전동 모터의 제어 방법
DE112014003602.1T DE112014003602T5 (de) 2013-08-05 2014-07-10 Steuereinrichtung für einen Elektromotor und Steuerverfahren für einen Elektromotor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-162812 2013-08-05
JP2013162812A JP6182385B2 (ja) 2013-08-05 2013-08-05 電動モータの制御装置

Publications (1)

Publication Number Publication Date
WO2015019790A1 true WO2015019790A1 (ja) 2015-02-12

Family

ID=52461129

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2014/068481 WO2015019790A1 (ja) 2013-08-05 2014-07-10 電動モータの制御装置及び電動モータの制御方法

Country Status (6)

Country Link
US (1) US20160028336A1 (zh)
JP (1) JP6182385B2 (zh)
KR (1) KR20150027095A (zh)
CN (1) CN104508973A (zh)
DE (1) DE112014003602T5 (zh)
WO (1) WO2015019790A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019156058A1 (ja) * 2018-02-09 2019-08-15 株式会社デンソー 回転電機の駆動装置

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015190192A1 (ja) * 2014-06-13 2015-12-17 日本精工株式会社 モータ制御装置及びそれを搭載した電動パワーステアリング装置
WO2016038683A1 (ja) * 2014-09-09 2016-03-17 三菱電機株式会社 多相交流モータ駆動用インバータ装置
JP6623540B2 (ja) * 2015-04-10 2019-12-25 株式会社デンソー 制御装置及び電動パワーステアリング装置
US10486736B2 (en) * 2016-06-07 2019-11-26 Nsk Ltd. Motor control unit, electric power steering apparatus equipped with the same, and vehicle
US10322748B2 (en) * 2016-09-23 2019-06-18 Jtekt Corporation Motor controller and steering device
DE112018000733T5 (de) * 2017-02-08 2019-10-24 Hitachi Automotive Systems, Ltd. Bürstenloser motor
JP2020096395A (ja) * 2017-03-29 2020-06-18 日立オートモティブシステムズ株式会社 電動機制御装置
JP2019103265A (ja) * 2017-12-04 2019-06-24 アイシン精機株式会社 モータ制御装置
JP6994968B2 (ja) * 2018-02-03 2022-01-14 株式会社ミツバ Ｓｒモータ制御システム
DE102018218587A1 (de) * 2018-10-30 2020-04-30 Audi Ag Verfahren zum Betreiben eines Lenksystems für ein Kraftfahrzeug sowie entsprechendes Lenksystem
US11128241B2 (en) * 2019-04-04 2021-09-21 Mando Corporation Motor control system and method for selectively shorting motor windings
CN114223130A (zh) * 2019-07-18 2022-03-22 学校法人法政大学 旋转机系统
KR20210014327A (ko) * 2019-07-30 2021-02-09 현대모비스 주식회사 전동식 조향장치에서의 상차단 스위치의 구동장치
CN110347143B (zh) * 2019-08-07 2020-10-16 中国核动力研究设计院 核安全级优选模块现场驱动输出回路诊断系统及方法
JP7294102B2 (ja) * 2019-12-11 2023-06-20 株式会社デンソー モータシステム
US11539322B1 (en) * 2021-06-15 2022-12-27 Hamilton Sundstrand Corporation Fault tolerant motor including redundant wye winding and dual-state neutral leads

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005160190A (ja) * 2003-11-25 2005-06-16 Toyota Motor Corp 動力出力装置およびその駆動制御をコンピュータに実行させるためのプログラムを記録したコンピュータ読み取り可能な記録媒体
JP2007099066A (ja) * 2005-10-04 2007-04-19 Nsk Ltd 電動パワーステアリング装置
JP2009095170A (ja) * 2007-10-10 2009-04-30 Denso Corp 回転電機装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998048506A1 (fr) * 1997-04-22 1998-10-29 Nippo Electric Co., Ltd. Onduleur a point neutre
EP1522132B1 (en) * 2002-07-12 2011-05-04 Toyota Jidosha Kabushiki Kaisha Method and system for detecting the disconnection of an auxiliary power supply from a poly-phase motor
JP4441920B2 (ja) * 2007-11-22 2010-03-31 株式会社デンソー 電源装置
JP2010074915A (ja) * 2008-09-17 2010-04-02 Jtekt Corp モータ制御装置及び電動パワーステアリング装置
JP5412974B2 (ja) * 2009-03-13 2014-02-12 株式会社デンソー 三相交流同期電動機の駆動装置
JP5379573B2 (ja) * 2009-06-22 2013-12-25 株式会社豊田中央研究所 モータ駆動システム
JP5434381B2 (ja) * 2009-08-31 2014-03-05 株式会社デンソー 車載電動機の駆動装置
JP5444992B2 (ja) * 2009-09-24 2014-03-19 株式会社ジェイテクト 電動パワーステアリング装置
DE102011054620A1 (de) * 2011-09-28 2013-03-28 Still Gmbh Flurförderzeug mit notbetriebsfähigem elektrischen Antrieb

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005160190A (ja) * 2003-11-25 2005-06-16 Toyota Motor Corp 動力出力装置およびその駆動制御をコンピュータに実行させるためのプログラムを記録したコンピュータ読み取り可能な記録媒体
JP2007099066A (ja) * 2005-10-04 2007-04-19 Nsk Ltd 電動パワーステアリング装置
JP2009095170A (ja) * 2007-10-10 2009-04-30 Denso Corp 回転電機装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019156058A1 (ja) * 2018-02-09 2019-08-15 株式会社デンソー 回転電機の駆動装置
JP2019140806A (ja) * 2018-02-09 2019-08-22 株式会社Ｓｏｋｅｎ 回転電機の駆動装置

Also Published As

Publication number Publication date
DE112014003602T5 (de) 2016-05-25
US20160028336A1 (en) 2016-01-28
CN104508973A (zh) 2015-04-08
KR20150027095A (ko) 2015-03-11
JP6182385B2 (ja) 2017-08-16
JP2015033272A (ja) 2015-02-16

Similar Documents

Publication Publication Date Title
WO2015019790A1 (ja) 電動モータの制御装置及び電動モータの制御方法
US8941337B2 (en) Motor driving device and electric power steering apparatus including motor driving device
US9806643B2 (en) Drive control apparatus for electric motor
US10421482B2 (en) Electronic control unit and control method for the same
JP5742356B2 (ja) 電動パワーステアリング装置の制御装置
KR101704112B1 (ko) 모터 구동 장치
US20110115289A1 (en) Motor control device, electric power steering system, and vehicle steering system
JP2013079027A (ja) 電動パワーステアリング装置
US11183963B2 (en) Abnormality detection device
WO2015016034A1 (ja) 電動モータの駆動装置及び駆動方法
JPWO2018173469A1 (ja) モータシステム
US10833614B2 (en) Motor drive device and electric power steering device
JP5387994B2 (ja) 電動パワーステアリング装置
US10348237B2 (en) Motor driving device
JP5946786B2 (ja) モータの駆動制御装置
JP6445900B2 (ja) 電動パワーステアリング装置
JP5574155B2 (ja) モータ制御装置
JP6461522B2 (ja) 逆接保護回路及び逆接保護方法
US10404202B2 (en) Electronic control device and control method thereof
JP5407935B2 (ja) 電動パワーステアリング装置
WO2021117636A1 (ja) 電動モータの駆動制御装置
JP2015051718A (ja) モータ制御装置
JP5458954B2 (ja) 電動パワーステアリング装置
JP2010269726A (ja) 電動パワーステアリング装置
JP5721799B2 (ja) 電動パワーステアリング装置

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 20147035279

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 14418550

Country of ref document: US

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14834281

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 112014003602

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14834281

Country of ref document: EP

Kind code of ref document: A1